Velocity feed forward allows to increase performance as the target position signal gets routed directly to the velocity controller so that the velocity signal can be generated faster.
After differentiation, the signal is filtered by a first-order low-pass filter and multiplied by a configured gain.

Note

The filter is used to smooth the derivative of the target position. This is needed to soften communication lags (if present), attenuate noise in the target position signal and diminish the influence of target position quantization.

1000 means the target position signal will be routed directly, 500 means scaled to half

Note

It is highly recommended to use an encoder with a resolution of more than 14 bit per revolution. Using encoders with a lower resolution will result in computed velocity quantization and torque spikes during the acceleration of the motor. Using a dual loop control might result in a similar effect if the gear reduction ratio is high and the resolution of the driving shaft encoder is small.
In these cases, the feature still can be used with a very low cut-off frequency (5-10 Hz).
Alternatively, a master-generated feed forward velocity can be sent to the slave via the velocity offset object.

In this object the cut-off frequency of the low-pass filter and the gain are configured.

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Synapticon Inc.
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About

Synapticon is a technology company focusing on the transition band
between advanced software and electromechanics. The company provides a
comprehensive portfolio of motion control-related technology to robot
and machinery OEMs.